@inproceedings{Calinon09Hum,
author = "Calinon, S. and D'halluin, F. and Caldwell, D.G. and Billard, A.",
title = "Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework",
booktitle = "Proc. {IEEE-RAS} Intl Conf. on Humanoid Robots ({H}umanoids)",
year = "2009",
month="December",
location="Paris, France",
pages="582--588"
}